void TaskThreadProcess()
{
while (true)
{
switch (state)
{
case TaskBallHandlingManagementState.PasDeBalle:
sw.Restart();
parent.ballHandlingState = BallHandlingState.NoBall;
state = TaskBallHandlingManagementState.PasDeBalleEnCours;
break;
case TaskBallHandlingManagementState.PasDeBalleEnCours:
parent.MessageDisplay = "No Ball : " + (sw.ElapsedMilliseconds / 1000).ToString();
//if(parent.isHandlingBall)
// state = TaskBallHandlingManagementState.PossessionBalle;
break;
case TaskBallHandlingManagementState.PossessionBalle:
sw.Restart();
parent.ballHandlingState = BallHandlingState.HasBall;
state = TaskBallHandlingManagementState.PossessionBalleEnCours;
break;
case TaskBallHandlingManagementState.PossessionBalleEnCours:
parent.MessageDisplay = "Ball : " + (sw.ElapsedMilliseconds / 1000).ToString();
if (sw.ElapsedMilliseconds > 3000)
{
/// On demande un tir ou une passe
parent.OnShootRequest(parent.robotId, 2);
state = TaskBallHandlingManagementState.Tir;
}
break;
case TaskBallHandlingManagementState.Passe:
sw.Restart();
parent.ballHandlingState = BallHandlingState.PassInProgress;
state = TaskBallHandlingManagementState.PasseEnCours;
break;
case TaskBallHandlingManagementState.PasseEnCours:
parent.MessageDisplay = "Passe";
if (sw.ElapsedMilliseconds > 2000)
{
state = TaskBallHandlingManagementState.PasDeBalle;
}
break;
case TaskBallHandlingManagementState.Tir:
sw.Restart();
parent.ballHandlingState = BallHandlingState.ShootInProgress;
state = TaskBallHandlingManagementState.TirEnCours;
break;
case TaskBallHandlingManagementState.TirEnCours:
parent.MessageDisplay = "Tir";
if (sw.ElapsedMilliseconds > 2000)
{
state = TaskBallHandlingManagementState.PasDeBalle;
}
break;
default:
break;
}
parent.OnBallHandlingState(parent.robotId, parent.ballHandlingState);
Thread.Sleep(20);
}
}
public void SetTaskState(TaskBallHandlingManagementState state)
{
this.state = state;
}